IEEE Trans Cybern. 2023 Dec;53(12):7483-7496. doi: 10.1109/TCYB.2022.3224895. Epub 2023 Nov 29.
This article presents a systematic review on wearable robotic devices that use human-in-the-loop optimization (HILO) strategies to improve human-robot interaction. A total of 46 HILO studies were identified and divided into upper and lower limb robotic devices. The main aspects from HILO were identified, reviewed, and classified in four areas: 1) human-machine systems; 2) optimization methods; 3) control strategies; and 4) experimental protocols. A variety of objective functions (physiological, biomechanical, and subjective), optimization strategies, and optimized control parameters configurations used in different control strategies are presented and analyzed. An overview of experimental protocols is provided, including metrics, tasks, and conditions tested. Moreover, the relevance given to training or adaptation periods was explored. We outline an HILO framework that includes current wearable robots, optimization strategies, objective functions, control strategies, and experimental protocols. We conclude by highlighting current research gaps and defining future directions to improve the development of advanced HILO strategies in upper and lower limb wearable robots.
本文对使用人机交互优化 (HILO) 策略来改善人机交互的可穿戴机器人设备进行了系统综述。共确定了 46 项 HILO 研究，并将其分为上肢和下肢机器人设备。从 HILO 中确定、回顾和分类了四个主要方面：1）人机系统；2）优化方法；3）控制策略；4）实验方案。提出并分析了不同控制策略中使用的各种客观指标（生理、生物力学和主观）、优化策略和优化控制参数配置。提供了实验方案的概述，包括测试的指标、任务和条件。此外，还探讨了对培训或适应期的重视程度。我们概述了一个 HILO 框架，其中包括当前的可穿戴机器人、优化策略、客观指标、控制策略和实验方案。最后，我们强调了当前的研究差距，并确定了未来的方向，以改善上肢和下肢可穿戴机器人中先进 HILO 策略的开发。
